Collision avoidance algorithm based on colregs for unmanned surface vehicle

Hyo Gon Kim, Sung Jo Yun, Young Ho Choi, Jae Kwan Ryu, Jin Ho Suh

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Recently, unmanned surface vehicles (USV) are being actively developed. For USVs to be put to practical use, it is necessary to secure safety by preventing collisions with general ships. To this end, USVs must avoid opposing vessels based on international regulations for preventing collisions at sea (COLREGs, 1972). This paper proposes an algorithm for USVs to avoid collisions with opposing vessels based on COLREG rules. The proposed algorithm predicts dangerous situations based on distance to closest point of approach (DCPA) and time to closest point of approach (TCPA). It allows USVs to avoid opponent ships based on the dynamic window approach (DWA). The DWA has been improved to comply with COLREGs, and we implemented a simulation and compared the standard DWA with the COLREG-compliant DWA (CCDWA) proposed in this paper. The results confirm that the CCDWA complies with COLREGs.

Original languageEnglish
Article number863
JournalJournal of Marine Science and Engineering
Issue number8
Publication statusPublished - 2021 Aug
Externally publishedYes


  • Autonomous navigation
  • COLREGs unmanned surface vehicle
  • Dynamic window approach

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Water Science and Technology
  • Ocean Engineering


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